Title :
Autonomous mobile mini-robot with embedded CMOS vision system
Author :
Palacin, J. ; Sanuy, A. ; Clua, X. ; Chapinal, G. ; Bota, S. ; Moreno, M. ; Herms, A.
Author_Institution :
Grup de Robotica, Univ. de Lleida, Spain
Abstract :
This paper presents a prototype of a mobile minirobot with an embedded vision system. The robot control is implemented in a low cost microcontroller and the vision system is based in a proprietary CMOS imaging array. The proposed vision sensor has enough flexibility to be incorporated directly to most microcontroller-based systems without any additional electronics. The CMOS camera sensor has random access readout capabilities and the microcontroller uses the camera like a read only external memory. Therefore, the main advantage of this system is that image-processing algorithms can be incorporated directly in a low cost microcontroller, resulting on a compact vision system with decision-making capabilities. The robot autonomous capabilities have been tested in a soccer game scenario where visual tasks such as object localisation and classification are needed.
Keywords :
CMOS image sensors; decision making; microcontrollers; mobile robots; robot vision; CMOS camera sensor; autonomous mobile mini-robot; compact vision system; decision-making capabilities; electronics; embedded CMOS vision system; embedded vision system; image-processing algorithms; low cost microcontroller; microcontroller-based systems; object classification; object localisation; random access readout capabilities; read only external memory; robot autonomous capabilities; robot control; soccer game scenario; vision system; visual tasks; CMOS image sensors; Cameras; Costs; Decision making; Machine vision; Microcontrollers; Prototypes; Robot control; Robot vision systems; Sensor systems;
Conference_Titel :
IECON 02 [Industrial Electronics Society, IEEE 2002 28th Annual Conference of the]
Print_ISBN :
0-7803-7474-6
DOI :
10.1109/IECON.2002.1185355